先看效果
使用cesium做视频投影效果，而且还要跟随无人机移动而移动，我现在用定时器更新无人机的坐标来实现效果具体代码如下：
1、CesiumVideo3d.js(某个cesium技术群大佬分享的)
// import ECEF from "./CoordinateTranslate";
let CesiumVideo3d = (function () {
var videoShed3dShader = "\r\n\r\n\r\n\r\nuniform float mixNum;\r\nuniform sampler2D colorTexture;\r\nuniform sampler2D stcshadow; \r\nuniform sampler2D videoTexture;\r\nuniform sampler2D depthTexture;\r\nuniform mat4 _shadowMap_matrix; \r\nuniform vec4 shadowMap_lightPositionEC; \r\nuniform vec4 shadowMap_normalOffsetScaleDistanceMaxDistanceAndDarkness; \r\nuniform vec4 shadowMap_texelSizeDepthBiasAndNormalShadingSmooth; \r\nvarying vec2 v_textureCoordinates;\r\nvec4 toEye(in vec2 uv, in float depth){\r\n vec2 xy = vec2((uv.x * 2.0 - 1.0),(uv.y * 2.0 - 1.0));\r\n vec4 posInCamera =czm_inverseProjection * vec4(xy, depth, 1.0);\r\n posInCamera =posInCamera / posInCamera.w;\r\n return posInCamera;\r\n}\r\nfloat getDepth(in vec4 depth){\r\n float z_window = czm_unpackDepth(depth);\r\n z_window = czm_reverseLogDepth(z_window);\r\n float n_range = czm_depthRange.near;\r\n float f_range = czm_depthRange.far;\r\n return (2.0 * z_window - n_range - f_range) / (f_range - n_range);\r\n}\r\nfloat _czm_sampleShadowMap(sampler2D shadowMap, vec2 uv){\r\n return texture2D(shadowMap, uv).r;\r\n}\r\nfloat _czm_shadowDepthCompare(sampler2D shadowMap, vec2 uv, float depth){\r\n return step(depth, _czm_sampleShadowMap(shadowMap, uv));\r\n}\r\nfloat _czm_shadowVisibility(sampler2D shadowMap, czm_shadowParameters shadowParameters){\r\n float depthBias = shadowParameters.depthBias;\r\n float depth = shadowParameters.depth;\r\n float nDotL = shadowParameters.nDotL;\r\n float normalShadingSmooth = shadowParameters.normalShadingSmooth;\r\n float darkness = shadowParameters.darkness;\r\n vec2 uv = shadowParameters.texCoords;\r\n depth -= depthBias;\r\n vec2 texelStepSize = shadowParameters.texelStepSize;\r\n float radius = 1.0;\r\n float dx0 = -texelStepSize.x * radius;\r\n float dy0 = -texelStepSize.y * radius;\r\n float dx1 = texelStepSize.x * radius;\r\n float dy1 = texelStepSize.y * radius;\r\n float visibility = \r\n (\r\n _czm_shadowDepthCompare(shadowMap, uv, depth)\r\n +_czm_shadowDepthCompare(shadowMap, uv + vec2(dx0, dy0), depth) +\r\n _czm_shadowDepthCompare(shadowMap, uv + vec2(0.0, dy0), depth) +\r\n _czm_shadowDepthCompare(shadowMap, uv + vec2(dx1, dy0), depth) +\r\n _czm_shadowDepthCompare(shadowMap, uv + vec2(dx0, 0.0), depth) +\r\n _czm_shadowDepthCompare(shadowMap, uv + vec2(dx1, 0.0), depth) +\r\n _czm_shadowDepthCompare(shadowMap, uv + vec2(dx0, dy1), depth) +\r\n _czm_shadowDepthCompare(shadowMap, uv + vec2(0.0, dy1), depth) +\r\n _czm_shadowDepthCompare(shadowMap, uv + vec2(dx1, dy1), depth)\r\n ) * (1.0 / 9.0)\r\n ;\r\n return visibility;\r\n}\r\nvec3 pointProjectOnPlane(in vec3 planeNormal, in vec3 planeOrigin, in vec3 point){\r\n vec3 v01 = point -planeOrigin;\r\n float d = dot(planeNormal, v01) ;\r\n return (point - planeNormal * d);\r\n}\r\nfloat ptm(vec3 pt){\r\n return sqrt(pt.x*pt.x + pt.y*pt.y + pt.z*pt.z);\r\n}\r\nvoid main() \r\n{ \r\n const float PI = 3.141592653589793;\r\n vec4 color = texture2D(colorTexture, v_textureCoordinates);\r\n vec4 currD = texture2D(depthTexture, v_textureCoordinates);\r\n if(currD.r>=1.0){\r\n gl_FragColor = color;\r\n return;\r\n }\r\n \r\n float depth = getDepth(currD);\r\n vec4 positionEC = toEye(v_textureCoordinates, depth);\r\n vec3 normalEC = vec3(1.0);\r\n czm_shadowParameters shadowParameters; \r\n shadowParameters.texelStepSize = shadowMap_texelSizeDepthBiasAndNormalShadingSmooth.xy; \r\n shadowParameters.depthBias = shadowMap_texelSizeDepthBiasAndNormalShadingSmooth.z; \r\n shadowParameters.normalShadingSmooth = shadowMap_texelSizeDepthBiasAndNormalShadingSmooth.w; \r\n shadowParameters.darkness = shadowMap_normalOffsetScaleDistanceMaxDistanceAndDarkness.w; \r\n shadowParameters.depthBias *= max(depth * 0.01, 1.0); \r\n vec3 directionEC = normalize(positionEC.xyz - shadowMap_lightPositionEC.xyz); \r\n float nDotL = clamp(dot(normalEC, -directionEC), 0.0, 1.0); \r\n vec4 shadowPosition = _shadowMap_matrix * positionEC; \r\n shadowPosition /= shadowPosition.w; \r\n if (any(lessThan(shadowPosition.xyz, vec3(0.0))) || any(greaterThan(shadowPosition.xyz, vec3(1.0)))) \r\n { \r\n gl_FragColor = color;\r\n return;\r\n }\r\n\r\n shadowParameters.texCoords = shadowPosition.xy; \r\n shadowParameters.depth = shadowPosition.z; \r\n shadowParameters.nDotL = nDotL; \r\n float visibility = _czm_shadowVisibility(stcshadow, shadowParameters); \r\n\r\n vec4 videoColor = texture2D(videoTexture,shadowPosition.xy);\r\n if(visibility==1.0){\r\n gl_FragColor = mix(color,vec4(videoColor.xyz,1.0),mixNum*videoColor.a);\r\n }else{\r\n if(abs(shadowPosition.z-0.0)<0.01){\r\n return;\r\n }\r\n gl_FragColor = color;\r\n }\r\n} ";
var Cesium=null
var videoShed3d=function(cesium,viewer, param) {
Cesium=cesium
this.ECEF = new ECEF();
this.param = param;
var option = this._initCameraParam();
this.optionType = {
Color: 1,
Image: 2,
Video: 3
}
this.near = option.near ? option.near : 0.1;
if (option || (option = {}), this.viewer = viewer, this._cameraPosition = option.cameraPosition, this._position = option.position,
this.type = option.type, this._alpha = option.alpha || 1, this.url = option.url, this.color = option.color,
this._debugFrustum = Cesium.defaultValue(option.debugFrustum, !0), this._aspectRatio = option.aspectRatio || this._getWinWidHei(),
this._camerafov = option.fov || Cesium.Math.toDegrees(this.viewer.scene.camera.frustum.fov), this.texture = option.texture || new Cesium.Texture({
context: this.viewer.scene.context,
source: {
width: 1,
height: 1,
arrayBufferView: new Uint8Array([255, 255, 255, 255])
},
flipY: !1
}), this._videoPlay = Cesium.defaultValue(option.videoPlay, !0), this.defaultShow = Cesium.defaultValue(option.show, !0), !this.cameraPosition || !this.position) return void console.log('初始化失败：请确认相机位置与视点位置正确!');
switch (this.type) {
default:
case this.optionType.Video:
this.activeVideo(this.url);
break;
case this.optionType.Image:
this.activePicture(this.url);
this.deActiveVideo();
break;
case this.optionType.Color:
this.activeColor(this.color),
this.deActiveVideo();
}
this._createShadowMap(),
this._getOrientation(),
this._addCameraFrustum()
this._addPostProcess()
this.viewer.scene.primitives.add(this)
}
Object.defineProperties(videoShed3d.prototype, {
alpha: {
get: function () {
return this._alpha
},
set: function (e) {
return this._alpha = e
}
},
aspectRatio: {
get: function () {
return this._aspectRatio
},
set: function (e) {
this._aspectRatio = e,
this._changeVideoWidHei()
}
},
debugFrustum: {
get: function () {
return this._debugFrustum
},
set: function (e) {
this._debugFrustum = e,
this.cameraFrustum.show = e
}
},
fov: {
get: function () {
return this._camerafov
},
set: function (e) {
this._camerafov = e,
this._changeCameraFov()
}
},
cameraPosition: {
get: function () {
return this._cameraPosition
},
set: function (e) {
e && (this._cameraPosition = e, this._changeCameraPos())
}
},
position: {
get: function () {
return this._position
},
set: function (e) {
e && (this._position = e, this._changeViewPos())
}
},
videoPlay: {
get: function () {
return this._videoPlay
},
set: function (e) {
this._videoPlay = Boolean(e),
this._videoEle && (this.videoPlay ? this._videoEle.paly() : this._videoEle.pause())
}
},
params: {
get: function () {
var t = {}
return t.type = this.type,
this.type == this.optionType.Color ? t.color = this.color : t.url = this.url,
t.position = this.position,
t.cameraPosition = this.cameraPosition,
t.fov = this.fov,
t.aspectRatio = this.aspectRatio,
t.alpha = this.alpha,
t.debugFrustum = this.debugFrustum,
t
}
},
show: {
get: function () {
return this.defaultShow
},
set: function (e) {
this.defaultShow = Boolean(e),
this._switchShow()
}
}
})
videoShed3d.prototype._initCameraParam = function () {
var viewPoint = this.ECEF.enu_to_ecef({ longitude: this.param.position.x * 1, latitude: this.param.position.y * 1, altitude: this.param.position.z * 1 },
{ distance: this.param.far, azimuth: this.param.rotation.y * 1, elevation: this.param.rotation.x * 1 });
var position = Cesium.Cartesian3.fromDegrees(viewPoint.longitude, viewPoint.latitude, viewPoint.altitude);
var cameraPosition = Cesium.Cartesian3.fromDegrees(this.param.position.x * 1, this.param.position.y * 1, this.param.position.z * 1);
return {
type: 3,
url: this.param.url,
cameraPosition: cameraPosition,
position: position,
alpha: this.param.alpha,
near: this.param.near,
fov: this.param.fov,
debugFrustum: this.param.debugFrustum
}
}
/**
* 旋转
*/
videoShed3d.prototype._changeRotation = function (e) {
if (e) {
this.param.rotation = e;
var option = this._initCameraParam();
this.position = option.position;
}
}
/**
* 相机位置
*/
videoShed3d.prototype._changeCameraPosition = function (e) {
if (e) {
this.param.position = e;
var option = this._initCameraParam();
this.cameraPosition = option.cameraPosition;
}
}
videoShed3d.prototype._changeFar = function (e) {
if (e) {
this.param.far = e;
var option = this._initCameraParam();
this.position = option.position;
}
}
videoShed3d.prototype._changeNear = function (e) {
if (e) {
this.param.near = e;
this.near = this.param.near;
this._changeCameraPos();
}
}
/**获取三维地图容器像素大小
*/
videoShed3d.prototype._getWinWidHei = function () {
var viewer = this.viewer.scene;
return viewer.canvas.clientWidth / viewer.canvas.clientHeight;
}
videoShed3d.prototype._changeCameraFov = function () {
this.viewer.scene.postProcessStages.remove(this.postProcess)
this.viewer.scene.primitives.remove(this.cameraFrustum),
this._createShadowMap(this.cameraPosition, this.position),
this._getOrientation(),
this._addCameraFrustum(),
this._addPostProcess()
}
videoShed3d.prototype._changeVideoWidHei = function () {
this.viewer.scene.postProcessStages.remove(this.postProcess),
this.viewer.scene.primitives.remove(this.cameraFrustum)
this._createShadowMap(this.cameraPosition, this.position),
this._getOrientation(),
this._addCameraFrustum(),
this._addPostProcess()
}
videoShed3d.prototype._changeCameraPos = function () {
this.viewer.scene.postProcessStages.remove(this.postProcess),
this.viewer.scene.primitives.remove(this.cameraFrustum),
this.viewShadowMap.destroy(),
this.cameraFrustum.destroy(),
this._createShadowMap(this.cameraPosition, this.position),
this._getOrientation(),
this._addCameraFrustum(),
this._addPostProcess()
}
videoShed3d.prototype._changeViewPos = function () {
this.viewer.scene.postProcessStages.remove(this.postProcess),
this.viewer.scene.primitives.remove(this.cameraFrustum),
this.viewShadowMap.destroy(),
this.cameraFrustum.destroy(),
this._createShadowMap(this.cameraPosition, this.position),
this._getOrientation(),
this._addCameraFrustum(),
this._addPostProcess()
}
videoShed3d.prototype._switchShow = function () {
this.show ? !this.postProcess && this._addPostProcess() : (this.viewer.scene.postProcessStages.remove(this.postProcess), delete this.postProcess, this.postProcess = null),
this.cameraFrustum.show = this.show
}
/** 创建视频Element
* @param {String} url 视频地址
**/
videoShed3d.prototype._createVideoEle = function (url) {
this.videoId = "visualDomId";
var t = document.createElement("SOURCE");
t.type = "video/mp4",
t.src = url;
var i = document.createElement("SOURCE");
i.type = "video/quicktime",
i.src = url;
var a = document.createElement("VIDEO");
return a.setAttribute("autoplay", !0),
a.setAttribute("loop", !0),
a.setAttribute("crossorigin", !0),
a.appendChild(t),
a.appendChild(i),
//document.body.appendChild(a),
this._videoEle = a,
a
}
/** 视频投射
* @param {String} url 视频地址
*/
videoShed3d.prototype.activeVideo = function (url) {
var video = this._createVideoEle(url),
that = this;
if (video) {
this.type = that.optionType.Video;
var viewer = this.viewer;
this.activeVideoListener || (this.activeVideoListener = function () {
that.videoTexture && that.videoTexture.destroy(),
that.videoTexture = new Cesium.Texture({
context: viewer.scene.context,
source: video,
width: 1,
height: 1,
pixelFormat: Cesium.PixelFormat.RGBA,
pixelDatatype: Cesium.PixelDatatype.UNSIGNED_BYTE
})
}),
viewer.clock.onTick.addEventListener(this.activeVideoListener)
}
}
videoShed3d.prototype.deActiveVideo = function () {
if (this.activeVideoListener) {
this.viewer.clock.onTick.removeEventListener(this.activeVideoListener),
delete this.activeVideoListener
}
}
/** 图片投放
* @param {String} url 图片地址
**/
videoShed3d.prototype.activePicture = function (url) {
this.videoTexture = this.texture;
var that = this,
img = new Image;
img.onload = function () {
that.type = that.optionType.Image,
that.videoTexture = new Cesium.Texture({
context: that.viewer.scene.context,
source: img
})
},
img.onerror = function () {
console.log('图片加载失败:' + url)
},
img.src = url
}
videoShed3d.prototype.locate = function () {
var cameraPosition = Cesium.clone(this.cameraPosition),
position = Cesium.clone(this.position);
this.viewer.Camera.position = cameraPosition,
this.viewer.camera.direction = Cesium.Cartesian3.subtract(position, cameraPosition, new Cesium.Cartesian3(0, 0, 0)),
this.viewer.camera.up = Cesium.Cartesian3.normalize(cameraPosition, new Cesium.Cartesian3(0, 0, 0))
}
videoShed3d.prototype.update = function (e) {
this.viewShadowMap && this.viewer.scene.frameState.shadowMaps.push(this.viewShadowMap) // *重点* 多投影
}
videoShed3d.prototype.destroy = function () {
this.viewer.scene.postProcessStages.remove(this.postProcess),
this.viewer.scene.primitives.remove(this.cameraFrustum),
//this._videoEle && this._videoEle.parentNode.removeChild(this._videoEle),
this.activeVideoListener && this.viewer.clock.onTick.removeEventListener(this.activeVideoListener),
this.activeVideoListener && delete this.activeVideoListener,
delete this.postProcess,
delete this.viewShadowMap,
delete this.color,
delete this.viewDis,
delete this.cameraPosition,
delete this.position,
delete this.alpha,
delete this._camerafov,
delete this._cameraPosition,
delete this.videoTexture,
delete this.cameraFrustum,
delete this._videoEle,
delete this._debugFrustum,
delete this._position,
delete this._aspectRatio,
delete this.url,
delete this.orientation,
delete this.texture,
delete this.videoId,
delete this.type,
this.viewer.scene.primitives.remove(this),
delete this.viewer
}
// 创建shadowmap
videoShed3d.prototype._createShadowMap = function () {
var e = this.cameraPosition,
t = this.position,
i = this.viewer.scene,
a = new Cesium.Camera(i);
a.position = e,
a.direction = Cesium.Cartesian3.subtract(t, e, new Cesium.Cartesian3(0, 0, 0)), //计算两个笛卡尔的组分差异。
a.up = Cesium.Cartesian3.normalize(e, new Cesium.Cartesian3(0, 0, 0)); // 归一化
var n = Cesium.Cartesian3.distance(t, e);
this.viewDis = n,
a.frustum = new Cesium.PerspectiveFrustum({
fov: Cesium.Math.toRadians(this.fov),
aspectRatio: this.aspectRatio,
near: this.near,
far: n
});
this.viewShadowMap = new Cesium.ShadowMap({
lightCamera: a,
enable: !1,
isPointLight: !1,
isSpotLight: !0,
cascadesEnabled: !1,
context: i.context,
pointLightRadius: n
})
}
// 获取shadowmap位置
videoShed3d.prototype._getOrientation = function () {
var e = this.cameraPosition,
t = this.position,
i = Cesium.Cartesian3.normalize(Cesium.Cartesian3.subtract(t, e, new Cesium.Cartesian3), new Cesium.Cartesian3),
a = Cesium.Cartesian3.normalize(e, new Cesium.Cartesian3),
n = new Cesium.Camera(this.viewer.scene);
n.position = e,
n.direction = i,
n.up = a,
i = n.directionWC,
a = n.upWC;
var r = n.rightWC,
o = new Cesium.Cartesian3,
l = new Cesium.Matrix3,
u = new Cesium.Quaternion;
r = Cesium.Cartesian3.negate(r, o);
var d = l;
Cesium.Matrix3.setColumn(d, 0, r, d),
Cesium.Matrix3.setColumn(d, 1, a, d),
Cesium.Matrix3.setColumn(d, 2, i, d);
var c = Cesium.Quaternion.fromRotationMatrix(d, u);
/*var viewMatrix=n.viewMatrix;
var inverseViewMatrix=n.inverseViewMatrix;
console.log("视图矩阵=",viewMatrix);
console.log("逆视图矩阵=",inverseViewMatrix);
var frustum = new Cesium.PerspectiveFrustum({
fov :20,
aspectRatio : 0.75,
near : 1.0,
far : 10.0
});
var projectionMatrix=frustum.projectionMatrix;
var infiniteProjectionMatrix=frustum.infiniteProjectionMatrix;
console.log("投影矩阵=",projectionMatrix);
console.log("透视投影矩阵=",infiniteProjectionMatrix);
//透视投 影矩阵反转
var inverseInfiniteProjectionMatrix=new Cesium.Matrix4();
Cesium.Matrix4.inverse(infiniteProjectionMatrix,inverseInfiniteProjectionMatrix);
console.log("透视投 影矩阵反转=",inverseInfiniteProjectionMatrix);
//逆视图投影矩阵
var inverseViewProjectionMatrix=new Cesium.Matrix4();
Cesium.Matrix4.multiply(inverseInfiniteProjectionMatrix,inverseViewMatrix,inverseViewProjectionMatrix)
console.log("逆视图投影矩阵=",inverseViewProjectionMatrix);
//视图投影矩阵
var viewProjectionMatrix=new Cesium.Matrix4();
Cesium.Matrix4.inverse(inverseViewProjectionMatrix,viewProjectionMatrix);
console.log("视图投影矩阵=",viewProjectionMatrix);
//远平面标准模型矩阵
var matrix4 = Cesium.Matrix4.fromUniformScale(10);
console.log("远平面标准模型矩阵=",matrix4);
//模型矩阵
var modelMatrix=new Cesium.Matrix4();
Cesium.Matrix4.multiply(inverseViewMatrix,matrix4,modelMatrix)
console.log("模型矩阵=",modelMatrix);
//视图矩阵与逆视图投影矩阵相乘得到立方体模型视图
var uBoxMV=new Cesium.Matrix4();
Cesium.Matrix4.multiply(viewMatrix,inverseViewProjectionMatrix,uBoxMV)
console.log("立方体模型视图=",uBoxMV);
//逆立方体模型视图
var uInverseBoxMV=new Cesium.Matrix4();
Cesium.Matrix4.multiply(viewMatrix,viewProjectionMatrix,uInverseBoxMV)
console.log("立方体模型视图=",uInverseBoxMV);
//将这两个模型视图赋予分类基元类的一致性映射 参数便可以最终实现视频监控图像与实景三维场景的融 合
var geometry =this.creacteGeometry(5,5);
var instance = new Cesium.GeometryInstance({
// geometry: //new Cesium.Geometry({}),
// geometry: new Cesium.GeometryInstance({
// geometry:new Cesium.FrustumOutlineGeometry ({
// origin: Cesium.Cartesian3.fromDegrees(cameraLong,cameraLat, cameraHeight),
// orientation:orientation,
// frustum: perspectiveFrustum,
// _drawNearPlane: true
// }),
geometry:geometry,
classificationType:Cesium.ClassificationType.BOTH,
// modelMatrix: modelMatrix,
attributes : {
color : Cesium.ColorGeometryInstanceAttribute.fromColor(Cesium.Color.fromCssColorString('#ff0000').withAlpha(1.0)),
show : new Cesium.ShowGeometryInstanceAttribute(true)
}
});
var videoElement = this._createVideoEle("http://localhost:7070/video/北京路与天马路交叉口高点枪机.mkv");
var material = Cesium.Material.fromType('Image');
material.uniforms.image = videoElement;
var _uniformMap ={
u_boxMV:uBoxMV,
u_inverseBoxMV:uInverseBoxMV
};
this.viewer.scene.primitives.add(new Cesium.Primitive({
geometryInstances: instance,
appearance: new Cesium.MaterialAppearance ({
material: material,
close:false,
}),
modelMatrix: modelMatrix,
_uniformMap:_uniformMap,
asynchronous:false,
compressVertices:false,
allowPicking:false
}));*/
//ClassificationPrimitive
return this.orientation = c,
c
}
videoShed3d.prototype.creacteGeometry = function (width, height) {
var hwidth = width / 2.0;
var hheigt = height / 2.0;
var positions = new Float64Array([hwidth, 0.0, hheigt, -hwidth, 0.0, hheigt, -hwidth, 0.0, -hheigt, hwidth, 0.0, -hheigt]);
var sts = new Float32Array([1.0, 1.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0]);
var indices = new Uint16Array([0, 1, 2, 0, 2, 3]);
var ge = this._createGeometry(positions, sts, indices);
return ge;
},
videoShed3d.prototype._createGeometry = function (positions, sts, indices) {
/* var Cesium = this.Cesium;*/
return new Cesium.Geometry({
attributes: {
position: new Cesium.GeometryAttribute({
componentDatatype: Cesium.ComponentDatatype.DOUBLE,
componentsPerAttribute: 3,
values: positions
}),
normal: new Cesium.GeometryAttribute({
componentDatatype: Cesium.ComponentDatatype.FLOAT,
componentsPerAttribute: 3,
values: new Float32Array([255.0, 0.0, 0.0, 255.0, 0.0, 0.0, 255.0, 0.0, 0.0, 255.0, 0.0, 0.0])
// values: new Float32Array([0.0, 0.0, 0.0,0.0, 0.0, 0.0,0.0, 0.0, 0.0,0.0, 0.0, 0.0])
}),
st: new Cesium.GeometryAttribute({
componentDatatype: Cesium.ComponentDatatype.FLOAT,
componentsPerAttribute: 2,
values: sts
})
},
indices: indices,
primitiveType: Cesium.PrimitiveType.TRIANGLES,
vertexFormat: new Cesium.VertexFormat({
position: true,
color: true
}),
boundingSphere: Cesium.BoundingSphere.fromVertices(positions)
});
},
//创建视锥
videoShed3d.prototype._addCameraFrustum = function () {
var e = this;
this.cameraFrustum = new Cesium.Primitive({
geometryInstances: new Cesium.GeometryInstance({
geometry: new Cesium.FrustumOutlineGeometry({
origin: e.cameraPosition,
orientation: e.orientation,
frustum: this.viewShadowMap._lightCamera.frustum,
_drawNearPlane: !0
}),
attributes: {
color: Cesium.ColorGeometryInstanceAttribute.fromColor(new Cesium.Color(0, 0.5, 0.5))
}
}),
appearance: new Cesium.PerInstanceColorAppearance({
translucent: !1,
flat: !0
}),
asynchronous: !1,
show: this.debugFrustum && this.show
}),
this.viewer.scene.primitives.add(this.cameraFrustum)
}
videoShed3d.prototype._addPostProcess = function () {
var e = this,
t = videoShed3dShader,
i = e.viewShadowMap._isPointLight ? e.viewShadowMap._pointBias : e.viewShadowMap._primitiveBias;
this.postProcess = new Cesium.PostProcessStage({
fragmentShader: t,
uniforms: {
mixNum: function () {
return e.alpha
},
stcshadow: function () {
return e.viewShadowMap._shadowMapTexture
},
videoTexture: function () {
return e.videoTexture
},
_shadowMap_matrix: function () {
return e.viewShadowMap._shadowMapMatrix
},
shadowMap_lightPositionEC: function () {
return e.viewShadowMap._lightPositionEC
},
shadowMap_texelSizeDepthBiasAndNormalShadingSmooth: function () {
var t = new Cesium.Cartesian2;
return t.x = 1 / e.viewShadowMap._textureSize.x,
t.y = 1 / e.viewShadowMap._textureSize.y,
Cesium.Cartesian4.fromElements(t.x, t.y, i.depthBias, i.normalShadingSmooth, this.combinedUniforms1)
},
shadowMap_normalOffsetScaleDistanceMaxDistanceAndDarkness: function () {
return Cesium.Cartesian4.fromElements(i.normalOffsetScale, e.viewShadowMap._distance, e.viewShadowMap.maximumDistance, e.viewShadowMap._darkness, this.combinedUniforms2)
}
}
}),
this.viewer.scene.postProcessStages.add(this.postProcess);
}
return videoShed3d;
})()
// export default CesiumVideo3d
2、CoordinateTranslate.js(同上，也是技术群大佬分享的)
let ECEF = (function () {
var _=function () {
this.PI = 3.141592653589793238;
this.a = 6378137.0;
this.b = 6356752.3142
this.f = (this.a - this.b) / this.a;
this.e_sq = this.f * (2.0 - this.f);
this.ee = 0.00669437999013;
this.WGSF = 1 / 298.257223563;
this.WGSe2 = this.WGSF * (2 - this.WGSF);
this.WGSa = 6378137.00000;
this.EPSILON = 1.0e-12;
}
_.prototype.CalculateCoordinates = function (point, azimuth, elevation, distance) {
var vertical_height = distance * Math.sin(2 * this.PI / 360 * elevation);//垂直高度
var horizontal_distance = distance * Math.cos(2 * this.PI / 360 * elevation);//水平距离
if (azimuth > 360) azimuth = azimuth % 360;
if (azimuth < 0) azimuth = 360 + (azimuth % 360);
var point1 = this.lonLat2WebMercator(point);
var lnglat = null;
var x_length , y_length
if (azimuth <= 90) {//第四象限
x_length = horizontal_distance * Math.cos(2 * this.PI / 360 * azimuth);
y_length = horizontal_distance * Math.sin(2 * this.PI / 360 * azimuth);
lnglat = {
x: point1.x + x_length,
y: point1.y - y_length
}
} else if (azimuth > 90 && azimuth <= 180) {//第三象限
x_length = horizontal_distance * Math.sin(2 * this.PI / 360 * (azimuth - 90));
y_length = horizontal_distance * Math.cos(2 * this.PI / 360 * (azimuth - 90));
lnglat = {
x: point1.x - x_length,
y: point1.y - y_length
}
} else if (azimuth > 180 && azimuth <= 270) {//第二象限
x_length = horizontal_distance * Math.cos(2 * this.PI / 360 * (azimuth - 180));
y_length = horizontal_distance * Math.sin(2 * this.PI / 360 * (azimuth - 180));
lnglat = {
x: point1.x - x_length,
y: point1.y + y_length
}
} else {//第一象限
x_length = horizontal_distance * Math.sin(2 * this.PI / 360 * (azimuth - 270));
y_length = horizontal_distance * Math.cos(2 * this.PI / 360 * (azimuth - 270));
lnglat = {
x: point1.x + x_length,
y: point1.y + y_length
}
}
lnglat = this.webMercator2LonLat(lnglat);
return {
lng: lnglat.x,
lat: lnglat.y,
height: vertical_height
}
}
/*
*经纬度转Web墨卡托
*@lonLat 经纬度
*/
_.prototype.lonLat2WebMercator = function (lonLat) {
let x = lonLat.x * this.a / 180;
let y = Math.log(Math.tan((90 + lonLat.y) * this.PI / 360)) / (this.PI / 180);
y = y * this.a / 180;
return {
x: x,
y: y
}
}
/*
*Web墨卡托转经纬度
*@mercator 平面坐标
*/
_.prototype.webMercator2LonLat = function (mercator) {
let x = mercator.x / this.a * 180;
let y = mercator.y / this.a * 180;
y = 180 / this.PI * (2 * (Math.exp(y * this.PI / 180)) - this.PI / 2);
return {
x: x,
y: y
}
}
_.prototype.get_atan = function (z, y) {
let x;
if (z == 0) {
x = this.PI / 2;
} else {
if (y == 0) {
x = this.PI;
} else {
x = Math.atan(Math.abs(y / z));
if ((y > 0) && (z < 0)) {
x = this.PI - x;
} else if ((y < 0) && (z < 0)) {
x = this.PI + x;
} else if ((y < 0) && (z > 0)) {
x = 2 * this.M_PI - x;
}
}
}
return x;
}
//WGS84转ECEF坐标系
_.prototype.ConvertLLAToXYZ = function (LLACoor) {
let lon = this.PI / 180 * LLACoor.longitude;
let lat = this.PI / 180 * LLACoor.latitude;
let H = LLACoor.altitude;
let N0 = this.a / Math.sqrt(1.0 - this.ee * Math.sin(lat) * Math.sin(lat));
let x = (N0 + H) * Math.cos(lat) * Math.cos(lon);
let y = (N0 + H) * Math.cos(lat) * Math.sin(lon);
let z = (N0 * (1.0 - this.ee) + H) * Math.sin(lat);
return {
x: x,
y: y,
z: z
}
}
//ECEF坐标系转WGS84
_.prototype.ConvertXYZToLLA = function (XYZCoor) {
let longitude = this.get_atan(XYZCoor.x, XYZCoor.y);
if (longitude < 0) {
longitude = longitude + this.PI;
}
let latitude = this.get_atan(Math.sqrt(XYZCoor.x * XYZCoor.x + XYZCoor.y * XYZCoor.y), XYZCoor.z);
let W = Math.sqrt(1 - this.WGSe2 * Math.sin(latitude) * Math.sin(latitude));
let N = this.WGSa / W;
let B1;
do {
B1 = latitude;
W = Math.sqrt(1 - this.WGSe2 * Math.sin(B1) * Math.sin(B1));
N = this.WGSa / W;
latitude = this.get_atan(Math.sqrt(XYZCoor.x * XYZCoor.x + XYZCoor.y * XYZCoor.y), (XYZCoor.z + N * this.WGSe2 * Math.sin(B1)));
}
while (Math.abs(latitude - B1) > this.EPSILON);
var altitude = Math.sqrt(XYZCoor.x * XYZCoor.x + XYZCoor.y * XYZCoor.y) / Math.cos(latitude) - this.WGSa / Math.sqrt(1 - this.WGSe2 * Math.sin(latitude) * Math.sin(latitude));
return {
longitude: longitude * 180 / this.PI,
latitude: latitude * 180 / this.PI,
altitude: altitude
}
}
/*北东天坐标系转WGS84
@ a A点坐标
@ p 相对参数，距离、方位角、仰角
*/
// 俯视角pitch -elevation
//航向角heading（yaw） -azimuth
_.prototype.enu_to_ecef = function (a, p) {
//距离
let distance = p.distance;
//方位角
let azimuth = p.azimuth;
//仰角
let elevation = p.elevation;
let zUp = elevation >= 0 ? distance * Math.sin(this.PI / 180 * elevation) : (-1) * distance * Math.sin(this.PI / 180 * Math.abs(elevation));
let d = distance * Math.cos(this.PI / 180 * Math.abs(elevation));
let xEast;
let yNorth;
if (azimuth <= 90) {
xEast = d * Math.sin(this.PI / 180 * azimuth);
yNorth = d * Math.cos(this.PI / 180 * azimuth);
} else if (azimuth > 90 && azimuth < 180) {
xEast = d * Math.cos(this.PI / 180 * (azimuth - 90));
yNorth = (-1) * d * Math.sin(this.PI / 180 * (azimuth - 90));
} else if (azimuth > 180 && azimuth < 270) {
xEast = (-1) * d * Math.sin(this.PI / 180 * (azimuth - 180));
yNorth = (-1) * d * Math.cos(this.PI / 180 * (azimuth - 180));
} else {
xEast = (-1) * d * Math.sin(this.PI / 180 * (360 - azimuth));
yNorth = d * Math.cos(this.PI / 180 * (360 - azimuth));
}
let lamb = this.radians(a.latitude);
let phi = this.radians(a.longitude);
let h0 = a.altitude;
let s = Math.sin(lamb);
let N = this.a / Math.sqrt(1.0 - this.e_sq * s * s);
let sin_lambda = Math.sin(lamb);
let cos_lambda = Math.cos(lamb);
let sin_phi = Math.sin(phi);
let cos_phi = Math.cos(phi);
let x0 = (h0 + N) * cos_lambda * cos_phi;
let y0 = (h0 + N) * cos_lambda * sin_phi;
let z0 = (h0 + (1 - this.e_sq) * N) * sin_lambda;
let t = cos_lambda * zUp - sin_lambda * yNorth;
let zd = sin_lambda * zUp + cos_lambda * yNorth;
let xd = cos_phi * t - sin_phi * xEast;
let yd = sin_phi * t + cos_phi * xEast;
return this.ConvertXYZToLLA({
x: xd + x0,
y: yd + y0,
z: zd + z0
})
}
_.prototype.radians = function (degree) {
return this.PI / 180 * degree;
}
return _
})()
// export default CoordinateTranslate
3、index.html
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=Edge,chrome=1">
<meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, minimum-scale=1, user-scalable=no">
<title>无人机视频投影</title>
<script src="../Cesium/Cesium.js"></script>
<script src="../jquery-2.1.4.js"></script>
<script src="../CoordinateTranslate.js"></script>
<script src="../CesiumVideo3d.js"></script>
<style>
@import url('../Cesium/Widgets/widgets.css');
html, body, #cesiumContainer {
width: 100%;
height: 100%;
margin: 0;
padding: 0;
overflow: hidden;
}
</style>
</head>
<body>
<div id="cesiumContainer"></div>
<script>
// 初始化 Cesium
Cesium.Ion.defaultAccessToken = '你的cesium token令牌'
const viewer = new Cesium.Viewer('cesiumContainer', {
imageryProvider: new Cesium.ArcGisMapServerImageryProvider({
url: "https://services.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer",
maximumLevel: 18,
}),
terrainProvider: Cesium.createWorldTerrain({
requestVertexNormals: true,
requestWaterMask: true
}),
shouldAnimate: true,
selectionIndicator: false,
infoBox: false,
geocoder: false,
baseLayerPicker: false,
timeline: false,
homeButton: false,
fullscreenButton: false,
animation: false,
sceneModePicker: false,
navigationHelpButton: false,
});
viewer.cesiumWidget.creditContainer.style.display = "none";
viewer.scene.globe.depthTestAgainstTerrain = true;
viewer.scene.globe.enableLighting = true;
// 设置初始视角以更好地观察地形
viewer.camera.setView({
destination: Cesium.Cartesian3.fromDegrees(
120.619907115, // 经度
31.317987368, // 纬度
2000 // 高度
),
orientation: {
heading: 0.0,
pitch: Cesium.Math.toRadians(-45),
roll: 0.0
}
});
// 添加高清影像图层
viewer.imageryLayers.addImageryProvider(new Cesium.IonImageryProvider({
assetId: 3 // Bing Maps Aerial 影像
}));
// 初始化无人机位置和视频投影
let dronePosition = {
lng: 120.619907115,
lat: 31.317987368,
height: 500
};
// 创建无人机模型实体
const drone = viewer.entities.add({
position: Cesium.Cartesian3.fromDegrees(dronePosition.lng, dronePosition.lat, dronePosition.height),
model: {
uri: '../CesiumDrone.glb',//你的无人机模型
minimumPixelSize: 100,
maximumScale: 2000,
scale: 0.5,
},
orientation: new Cesium.CallbackProperty(() => {
// 添加90度偏移来修正朝向
const headingOffset = Cesium.Math.toRadians(-90);
return Cesium.Transforms.headingPitchRollQuaternion(
Cesium.Cartesian3.fromDegrees(dronePosition.lng, dronePosition.lat, dronePosition.height),
new Cesium.HeadingPitchRoll(droneHeading + headingOffset, 0, 0)
);
}, false)
});
// 初始化视频投影
let videoProjection = new CesiumVideo3d(Cesium, viewer, {
position: {
x: dronePosition.lng, // 投影相机位置的经度
y: dronePosition.lat, // 投影相机位置的纬度
z: dronePosition.height // 投影相机位置的高度（单位：米）
},
far: 1000, // 视锥体远裁剪面距离，决定投影的最大距离（单位：米）
rotation: {
y: 0, // 航向角，决定投影方向的水平旋转角度（0度为正北，90度为正东）
x: -45 // 俯仰角，决定投影的垂直倾斜角度（-90度为垂直向下，0度为水平）
},
url: '../demo.mp4', // 要投影的视频文件路径
alpha: 0.8, // 投影的透明度（0-1之间，1为完全不透明）
near: 0.5, // 视锥体近裁剪面距离，决定投影的最小距离（单位：米）
fov: 60, // 视场角，决定投影的张角大小（单位：度，值越大投影范围越大）
debugFrustum: true // 是否显示视锥体的线框，用于调试
});
// 删除 WebSocket 相关代码，替换为 setInterval
let droneHeading = 0;
let lastPosition = null;
let time = 0;
// 使用 setInterval 模拟位置更新
setInterval(() => {
time += 0.05;
// 模拟圆形飞行路径
const radius = 0.005;
const centerLng = 120.619907115;
const centerLat = 31.317987368;
// 计算新位置
const newLng = centerLng + radius * Math.cos(time);
const newLat = centerLat + radius * Math.sin(time);
// 获取地形高度
const positions = [Cesium.Cartographic.fromDegrees(newLng, newLat)];
// 使用 Promise 替代 Cesium.when
Cesium.sampleTerrainMostDetailed(viewer.terrainProvider, positions)
.then(function(updatedPositions) {
// 地形高度加上偏移量作为飞行高度
const terrainHeight = updatedPositions[0].height || 0;
const flyHeight = terrainHeight + 300; // 300米的相对高度
const newPosition = {
lng: newLng,
lat: newLat,
height: flyHeight
};
// 更新无人机位置
dronePosition = newPosition;
// 计算航向角
if (lastPosition) {
const deltaLng = dronePosition.lng - lastPosition.lng;
const deltaLat = dronePosition.lat - lastPosition.lat;
droneHeading = Math.atan2(deltaLng, deltaLat);
}
lastPosition = {...dronePosition};
// 更新无人机实体位置
drone.position = Cesium.Cartesian3.fromDegrees(
dronePosition.lng,
dronePosition.lat,
dronePosition.height
);
// 更新视频投影位置和方向
videoProjection._changeCameraPosition({
x: dronePosition.lng,
y: dronePosition.lat,
z: dronePosition.height
});
videoProjection._changeRotation({
y: Cesium.Math.toDegrees(droneHeading),
x: -45
});
// 相机跟随
if(time == 0.2) {
viewer.camera.setView({
destination: Cesium.Cartesian3.fromDegrees(
dronePosition.lng,
dronePosition.lat,
dronePosition.height + 1000
),
orientation: {
heading: droneHeading,
pitch: Cesium.Math.toRadians(-45),
roll: 0
}
});
}
})
.catch(function(error) {
console.error('Error sampling terrain:', error);
});
}, 50); // 每50毫秒更新一次位置
// 修改清理函数
function cleanup() {
if (videoProjection) {
videoProjection.destroy();
}
viewer.entities.remove(drone);
}
// 页面关闭时清理资源
window.onbeforeunload = cleanup;
</script>
</body>
</html>
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